EP1939062A1 - Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement - Google Patents

Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement Download PDF

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Publication number
EP1939062A1
EP1939062A1 EP06425866A EP06425866A EP1939062A1 EP 1939062 A1 EP1939062 A1 EP 1939062A1 EP 06425866 A EP06425866 A EP 06425866A EP 06425866 A EP06425866 A EP 06425866A EP 1939062 A1 EP1939062 A1 EP 1939062A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
signalling
driver
excitation
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06425866A
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German (de)
English (en)
Other versions
EP1939062B1 (fr
Inventor
Guido Ghisio
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Marelli Europe SpA
Original Assignee
Magneti Marelli Sistemi Elettronici SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Magneti Marelli Sistemi Elettronici SpA filed Critical Magneti Marelli Sistemi Elettronici SpA
Priority to AT06425866T priority Critical patent/ATE501010T1/de
Priority to DE602006020604T priority patent/DE602006020604D1/de
Priority to EP06425866A priority patent/EP1939062B1/fr
Publication of EP1939062A1 publication Critical patent/EP1939062A1/fr
Application granted granted Critical
Publication of EP1939062B1 publication Critical patent/EP1939062B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels

Definitions

  • the present invention relates to vehicle driving assistance systems and, in particular, to systems for providing driving assistance in relation to the "lateral" movements performed by the vehicle, for assistance in keeping within a driving lane or in changing lanes and, more specifically, to a tactile/acoustic signalling arrangement as well as to a steering device and a driving assistance system including such an arrangement.
  • driving assistance systems are under development which can assist the driver in manoeuvres and in any critical driving situation that may arise on the road, preventing possible risky situations.
  • Lateral control of the vehicle is amongst the preventive safety functions that are governed by such systems; this involves the control of the vehicle with respect to any departure from the lane in which it is travelling or, if the driver wishes to "depart" from that lane, assistance in that operation by checking for any vehicles arriving in the destination lane.
  • Such systems are arranged to inform the driver of the need to adjust his path of movement with the use of various information channels such as visual indications, acoustic signalling, and tactile or "haptic” signalling.
  • the crossing or imminent crossing of the lines demarcating the driving lane will be signalled if the crossing is not intentional, that is, if the change of lane has not been indicated beforehand by operation of the appropriate direction indicator; the signalling is performed by acoustic means or by providing the driver with a tactile sensation (haptic feedback) in terms of vibration in the steering wheel or in terms of torque in the steering wheel which produces a sensation of resistance to crossing of the lane-demarcation lines and "suggests" the appropriate steering action to be undertaken in order to return the vehicle to the lane or to keep it within the lane.
  • haptic feedback haptic feedback
  • sensors are provided for scanning the area beside and behind the vehicle ("Blind Spot Monitoring") in order to identify other vehicles arriving in the destination lane and to reduce the risk of collisions.
  • the signalling is typically entrusted to visual interfaces such as LEDs positioned on the rear-view mirrors, and/or to acoustic signals, but haptic feedback to the steering wheel such as signalling by means of vibrations or the generation of a resisting torque which opposes the risky manoeuvre may also be considered, as in a Lane Departure Warning system.
  • Tactile signals represent the best comprise solution in this sense since they are naturally perceptible, do not require particular attention to visual elements in a specific direction and do not disturb the passengers who are present.
  • Signalling by means of vibrations can be supplied through parts of the vehicle with which the driver is in contact in the course of an incorrect or dangerous manoeuvre, for example, the accelerator pedal in speed control, or through parts with which the driver is (or should be) constantly in contact, for example, the seat or the steering wheel, for any other type of signalling.
  • the signalling by vibration of the steering wheel or of a similar steering device with which the vehicle is provided.
  • the steering device is in fact a part of the vehicle with which the driver is constantly in contact for driving purposes, and which he grips with his hands which are the part of the human body that has the greatest tactile sensitivity.
  • the main methods involve the application of "circumferential" vibrations by the generation of torques applied to the steering column, of axial vibrations produced by the movement of a striker member acting along the steering column, of transverse vibrations produced by the movement of rotating eccentric masses fitted in the steering-wheel structure, or even of radial vibrations produced by pulsations generated by the pumping of fluids in its circular grip.
  • EP 0 958 965 describes a solution for the generation of localized vibration in which a pair of magnetic vibration actuators is incorporated in the circular grip or rim of the steering wheel in opposed gripping positions which are generally held by a driver when driving, particularly in steering wheels that carry, on diametrally opposed horizontal spokes, controls for operating on-board apparatus or instruments.
  • the vibration is caused by the selective excitation of two solenoids which set in motion corresponding striker members acting on respective resilient members incorporated in two diametrally opposed positions on the steering-wheel rim.
  • the tactile signalling is used to supply feedback relating to the operation of the controls on the steering wheel and, in a selective mode of activation of the solenoids, it is possible to recognize different signals according to the portion of the steering wheel which is caused to vibrate.
  • the integration of the vibrating members in the intimate structure of the steering wheel also makes it impossible to post-fit this signalling capability in vehicles that are already on the road except by replacing the entire steering wheel which is a laborious and expensive procedure particularly for those steering wheels which carry controls for some on-board devices.
  • the object of the present invention is to provide a tactile/acoustic signalling arrangement for warning the driver of a vehicle within a driving assistance system, which can be associated with a vehicle steering device and which enables effective and selective tactile and/or acoustic signalling indicative of anomalous driving conditions to be transmitted to the vehicle driver.
  • a further object of the invention is to provide a signalling arrangement which is easy to install in a vehicle not only during production but also as an after-market accessory for vehicles that are already on the road, without the replacement of parts, and which offers the driver an easily perceptible, logical and natural communication interface.
  • the present invention is based on the principle of the association of a pair of buzzers with a steering device, typically a steering wheel, which buzzers may be fitted on the steering-wheel structure externally or may be incorporated in its covering in positions in which it is gripped by the driver.
  • Each buzzer can operate selectively at sonic and infrasonic frequencies.
  • a control circuit for the excitation of the buzzer enables different vibration modes to be achieved in order to convey to the driver information with variable content relating to current driving conditions, within a driving assistance system for the lateral control of the vehicle.
  • Figures 1a and 1b show a vehicle steering wheel 10 comprising a central hub 12 and a circular gripping rim 14 joined to the hub by connecting spokes including at least a pair of diametrally-opposed horizontal spokes indicated 16a and 16b.
  • the spokes 16a and 16b may incorporate controls for on-board devices and, in accordance with ergonomic principles, their arrangement is substantially horizontal to permit easy operation of the controls by the driver without the need to release his grip on the steering wheel which - in the most frequent driving conditions and in accordance with correct driving recommendations - is such that the hands are aligned horizontally in diametrally opposed positions so as to grip the rim portions indicated 18 in the drawings.
  • a signalling arrangement of the invention includes a pair of acoustic/tactile signalling devices which are individually indicated 20 and are fitted on the rear of the spokes 16a, 16b proximate to the rim 14 so that they are within the reach of the driver's fingers in the position in which the steering wheel is frequently (correctly) gripped, that is, in the gripping position which is generally maintained by a driver when driving, particularly with steering wheels that carry, on the horizontal spokes, controls for operating on-board apparatus and instruments.
  • each signalling device 20 is shown in greater detail in Figure 2 and is described below.
  • Each signalling device 20 comprises a buzzer 22 to be fixed firmly to a spoke of the steering wheel, for example, to be incorporated in the plastics steering-wheel covering.
  • the buzzer may be constructed in accordance with a known technique and, for example, if it is piezoelectric, may comprise a piezo-electric element to which a vibrating plate is glued so that, when an alternating voltage is applied to the piezo-electric element, it expands and contracts producing vibrations of the plate and the consequent emission of sound.
  • a magnetic embodiment it is the fluctuation of a magnetic field that causes the movement of a membrane fixed to a core vibrating inside a solenoid.
  • the membranes face the exterior of the steering wheel in a position such that they are within the reach of the driver's fingers, as described above.
  • buzzers are advantageously available in a wide range of frequencies including non-audible, infrasonic frequencies ( ⁇ 20 Hz) and sonic (audible) frequencies (>20 Hz and ⁇ 20 kHz), preferably below 100 Hz and above 1 kHz, respectively.
  • the signalling devices 20 are adapted to adopt a rest state, indicative of a correct or safe driving condition, in which the buzzer 22 is inactive, a first signalling state, for example, indicative of a danger warning, in which the buzzer 22 is activated at infrasonic frequencies so that it can provide the driver with a tactile signal, and a second signalling state, for example, indicative of an incorrect driving manoeuvre, in which the buzzer 22 is activated at sonic frequencies so that it is adapted to provide the driver with an acoustic signal.
  • the signalling devices of the invention combine to provide a mixed type of feedback including a "haptic" feedback in the steering wheel which represents the most intuitive driver/vehicle interface device for constantly providing information to the driver regarding the environment surrounding the vehicle and for signalling anomalous driving conditions to prevent incorrect or dangerous manoeuvres, and an "acoustic" type of feedback which attracts the driver's attention more effectively in more critical situations, for example, if his initial reaction is inadequate.
  • a haptic in the steering wheel which represents the most intuitive driver/vehicle interface device for constantly providing information to the driver regarding the environment surrounding the vehicle and for signalling anomalous driving conditions to prevent incorrect or dangerous manoeuvres
  • an "acoustic" type of feedback which attracts the driver's attention more effectively in more critical situations, for example, if his initial reaction is inadequate.
  • an on-board processing and control unit is arranged to recognize a vehicle driving scenario, in accordance with known techniques which do not form a subject of the present invention and are therefore not discussed in greater depth herein, and to assess the current driving condition (the driving condition or an incorrect manoeuvre).
  • the management of the signalling strategies and of the electronic control of the signalling devices 20 resides in the processing and control unit or in any other on-board unit which has access to the control unit by means of a data network (for example, CAN).
  • a data network for example, CAN
  • the signalling devices receive their activation signals from the control unit by direct connection (dedicated wiring) or via radio.
  • the on-board processing and control unit is arranged to activate the signalling devices 20, by controlling their excitation circuits.
  • the excitation signal of the buzzer 22 is a pulsed signal and brings about a vibration of its movable part, causing the emission of acoustic waves as indicated W in the drawing, "acoustic wave” meaning, in general terms, an elastic wave which is propagated in space irrespective of whether it reaches the human ear and hence of its perception as sound, so that the term also extends to phenomena relating to acoustic waves of non-audible frequency (for example, infrasonic frequencies).
  • each buzzer 22 may differ in vibration frequency or amplitude.
  • a higher vibration frequency in the sonic range may be associated with an anomalous driving condition which is assessed as more critical than pre-alarm conditions which are signalled by means of a lower-frequency vibration within the infrasonic range and are perceptible exclusively by touch.
  • only one of the signalling devices 20 may be activated to provide the driver not only with the signalling indicating an anomalous driving condition but also with an indication of the side of the vehicle on which the danger exists, for example, of the side towards which the vehicle is deviating or of the side of the vehicle towards which the correction, for example, a steering manoeuvre, is required.
  • only one of the signalling devices 20 may be activated to provide the driver with a signalling indicating a critical anomalous driving condition.
  • the buzzer that is not used for providing the tactile signal may be activated so as to provide the two signalling modes alongside one another rather than alternatively.
  • the fitting of the devices on the rear of the steering wheel does not interfere with incorporated safety devices such as an air-bag or any controls for on-board devices.
  • Buzzers are preferable to loud-speakers as signalling devices 20 since they are simpler and less expensive because they do not have to be precise and faithful in the reproduction of a wide range of frequencies including voice frequencies.
  • the signalling arrangement of the invention is advantageously particularly suitable for tactile and acoustic feedback applications in alerting/danger warning systems within the sphere of lateral vehicle control since its location on the steering wheel is suited to the position of a driver's hands in "cruising" attitude but, during complex, low-speed manoeuvres, is remote from the hand positions so that the irritating perception of possible false alarms is reduced.
  • the system is advantageously arranged to implement a Lane Departure Warning (LDW) type of control strategy, that is, to warn the driver of an anomalous or potentially risky driving condition when it recognizes a deviation of the vehicle relative to the demarcation lines of the road lane along which the vehicle is travelling and no activation of the direction indicators is detected so that the system interprets any departure from the lane travelled as unintentional.
  • LDW Lane Departure Warning
  • Lane Change Support that is, to assist the driver in a lane-changing manoeuvre, for example, in order to overtake, and to warn him of an anomalous or potentially risky driving condition. This occurs when no deviation of the vehicle relative to the demarcation lines of the lane along which it is travelling is recognized, in order to assist the driver in the decision to perform an overtaking manoeuvre or, in the event of a deviation of the vehicle which is signalled by means of the direction indicators and is therefore intentional, to assist the driver in initiating the overtaking manoeuvre.
  • LCS Lane Change Support

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Controls (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
  • Traffic Control Systems (AREA)
EP06425866A 2006-12-28 2006-12-28 Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement Not-in-force EP1939062B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AT06425866T ATE501010T1 (de) 2006-12-28 2006-12-28 Tast-/tonsignalanordnung zum warnen des fahrers eines fahrzeugs sowie eine lenkvorrichtung für ein fahrzeug und ein fahrerassistenzsystem mit einer solchen anordnung
DE602006020604T DE602006020604D1 (de) 2006-12-28 2006-12-28 Tast-/Tonsignalanordnung zum Warnen des Fahrers eines Fahrzeugs sowie eine Lenkvorrichtung für ein Fahrzeug und ein Fahrerassistenzsystem mit einer solchen Anordnung
EP06425866A EP1939062B1 (fr) 2006-12-28 2006-12-28 Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP06425866A EP1939062B1 (fr) 2006-12-28 2006-12-28 Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement

Publications (2)

Publication Number Publication Date
EP1939062A1 true EP1939062A1 (fr) 2008-07-02
EP1939062B1 EP1939062B1 (fr) 2011-03-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP06425866A Not-in-force EP1939062B1 (fr) 2006-12-28 2006-12-28 Agencement de signalisation tactile/acoustique pour avertir le conducteur d'un véhicule, ainsi qu'un dispositif de contrôle de direction d'un véhicule et système d'assistance à la conduite selon cette agencement

Country Status (3)

Country Link
EP (1) EP1939062B1 (fr)
AT (1) ATE501010T1 (fr)
DE (1) DE602006020604D1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112959946A (zh) * 2021-04-02 2021-06-15 大连丁格尔杰格科技有限公司 一种驾驶操作执行反馈感应装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB447222A (en) * 1935-03-14 1936-05-14 Granville Grindrod Holt An apparatus to indicate the speed of a motor vehicle
EP0856432A2 (fr) 1997-01-31 1998-08-05 C.R.F. Società Consortile per Azioni Dispositif indicateur à l'intérieur d'un véhicule
EP0958965A2 (fr) 1998-05-22 1999-11-24 Alps Electric Co., Ltd. Dispositif de direction assistée
DE10126670A1 (de) * 2001-06-01 2002-12-05 Bayerische Motoren Werke Ag Schaltung und Verfahren zur Erzeugung eines Antwortsignals
WO2003042805A1 (fr) * 2001-11-12 2003-05-22 Myorigo Oy Procede et dispositif de production de reactions
US20030128182A1 (en) * 2001-10-01 2003-07-10 Max Donath Virtual mirror
US20030142835A1 (en) * 2002-01-31 2003-07-31 Takeshi Enya Sound output apparatus for an automotive vehicle
FR2838595A1 (fr) * 2002-04-16 2003-10-17 Bruno Valentini Telephone cellulaire integre au volant

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB447222A (en) * 1935-03-14 1936-05-14 Granville Grindrod Holt An apparatus to indicate the speed of a motor vehicle
EP0856432A2 (fr) 1997-01-31 1998-08-05 C.R.F. Società Consortile per Azioni Dispositif indicateur à l'intérieur d'un véhicule
EP0958965A2 (fr) 1998-05-22 1999-11-24 Alps Electric Co., Ltd. Dispositif de direction assistée
DE10126670A1 (de) * 2001-06-01 2002-12-05 Bayerische Motoren Werke Ag Schaltung und Verfahren zur Erzeugung eines Antwortsignals
US20030128182A1 (en) * 2001-10-01 2003-07-10 Max Donath Virtual mirror
WO2003042805A1 (fr) * 2001-11-12 2003-05-22 Myorigo Oy Procede et dispositif de production de reactions
US20030142835A1 (en) * 2002-01-31 2003-07-31 Takeshi Enya Sound output apparatus for an automotive vehicle
FR2838595A1 (fr) * 2002-04-16 2003-10-17 Bruno Valentini Telephone cellulaire integre au volant

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112959946A (zh) * 2021-04-02 2021-06-15 大连丁格尔杰格科技有限公司 一种驾驶操作执行反馈感应装置

Also Published As

Publication number Publication date
EP1939062B1 (fr) 2011-03-09
DE602006020604D1 (de) 2011-04-21
ATE501010T1 (de) 2011-03-15

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